Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 108)

DMS 5.2 EN 03/2011 TD17
L
108
L-force | PLC Designer - SoftMotion
The SM_PLCopen.lib library
PLCopen specification
6.1 PLCopen specification
We recommend that you read the PLCopen specification "Function blocks for motion
control, Version 1.0" as well as this description. The main points are summarised below:
Program organisation units are activated in two ways:
A. Enable input: If the program organisation unit has an enable input (such as
MC_ReadParameter), it will remain active for as long as the enable is set to TRUE.
B. Execute input: The program organisation unit is activated on a rising edge (transition
from FALSE to TRUE) of the Execute input and will not become inactive again until it has
completed its motion, another program organisation unit has taken control of the axis
(AXIS_REF) or a new rising edge has occurred at the Execute input and the motion has
thus been restarted. Please also note that all input variables will only be read on a rising
edge.
The program organisation units indicate either the validity of the outputs (e.g.
MC_ReadStatus) or the completion of the motion (e.g. MC_MoveAbsolute) by means of
the Done output (or another similar output).
A program organisation unit that generates a motion and is interrupted by another will
indicate this by setting its CommandAborted output.
Once the Done output has been set, the outputs of the program organisation units started
via Execute will remain unchanged for as long as the Execute input is set. They will be
cleared on a falling edge. If a falling edge has been detected prior to termination, the
outputs will be set for one cycle and cleared in the next one.
All program organisation units that generate motion need the controller enable to have
been set and the brake released in the corresponding axis, otherwise they will report an
error.